Title:
Stereo Tracking and Three-Point/One-Point Algorithms - A Robust Approach in Visual Odometry
Stereo Tracking and Three-Point/One-Point Algorithms - A Robust Approach in Visual Odometry
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Author(s)
Ni, Kai
Dellaert, Frank
Dellaert, Frank
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Abstract
In this paper, we present an approach of calculating visual
odometry for outdoor robots equipped with a stereo rig. Instead
of the typical feature matching or tracking, we use an
improved stereo-tracking method that simultaneously decides
the feature displacement in both cameras. Based on the matched
features, a three-point algorithm for the resulting quadrifocal
setting is carried out in a RANSAC framework to recover the
unknown odometry. In addition, the change in rotation can be
derived from infinity homography, and the remaining translational
unknowns can be obtained even faster consequently .
Both approaches are quite robust and deal well with challenging
conditions such as wheel slippage.
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Date Issued
2006-10
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